Adaptive spraying device and spraying method

Abstract

The present invention discloses an adaptive spraying device and a spraying method, including a vehicle body, a vertical rod connected to the vehicle body, a second slide rail and upper and lower racks fixedly connected to the vertical rod, the second slide rail and the upper and lower racks are arranged along the length direction of the vertical rod, the upper and lower racks are arranged on one side of the second slide rail, a second movable plate is slidably connected to the second slide rail, the second movable plate is fixedly connected to upper and lower motors, the upper and lower motors are connected to upper and lower gears, and the upper and lower gears are meshed with the upper and lower racks; the second movable plate is rotatably connected to a screw rod, the second movable plate is fixedly connected to front and rear motors, the front and rear motors are connected to the screw rod, and the screw rod nut is also fixedly connected to a spraying port and an ultrasonic distance sensor; the vehicle body is connected to a mortar pump, the vehicle body is provided with a filling port, the filling port is connected to one end of the mortar pump, and the other end of the mortar pump is connected to the spraying port. The present invention can adapt to ground surfaces in different conditions, realizes automation in the spraying process, effectively reduces labor intensity, and improves the quality of spraying.

Description

Technical Field

[0001] The present invention relates to the technical field of spraying machines, and in particular to an adaptive spraying device and a spraying method. Background Art

[0002] At present, if the spraying of slurry is done by manpower, the spraying is uneven, the amount of slurry carried per time is small, the spraying efficiency is low, the operation speed is slow, and the manual operation process may also pose a certain threat to the health and safety of the operators.

[0003] However, existing spray machines are often not able to automatically adapt to uneven surfaces, especially where spraying is required. They also lack motorized devices, making movement difficult. Furthermore, spray machines cannot be automatically controlled and still require real-time operator control. Therefore, automating the spraying process and reducing manual labor intensity is a pressing technical issue in this field. Summary of the Invention

[0004] In order to solve the above problems in the prior art, an adaptive spraying device and a spraying method are provided.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The present invention proposes an adaptive spraying device, comprising a vehicle body, wherein a first slide rail and left and right racks are fixedly connected to the upper end of the vehicle body, the first slide rail and the left and right racks are arranged along the length direction of the vehicle body, and the left and right racks are arranged on one side of the first slide rail; a first movable plate is slidably connected to the first slide rail, the first movable plate is fixedly connected to left and right motors, the left and right motors are connected to left and right gears, and the left and right gears are meshed with the left and right racks; and further comprising:

[0007] A vertical rod, the vertical rod is connected to the first movable plate, the vertical rod is fixedly connected to a second slide rail and upper and lower racks, the second slide rail and the upper and lower racks are arranged along the length direction of the vertical rod, the upper and lower racks are arranged on one side of the second slide rail, the second slide rail is slidably connected to the second movable plate, the second movable plate is fixedly connected to an upper and lower motor, the upper and lower motors are connected to upper and lower gears, and the upper and lower gears are meshed with the upper and lower racks;

[0008] A screw rod, the screw rod including a screw rod nut, the screw rod is rotatably connected to the second movable plate, the second movable plate is fixedly connected to the front and rear motors, the front and rear motors are connected to the screw rod, and the screw rod nut is also fixedly connected to the spraying port and the ultrasonic distance sensor;

[0009] A mortar pump, the mortar pump is connected to the vehicle body, the vehicle body is provided with a filling port, the filling port is connected to one end of the mortar pump, and the other end of the mortar pump is connected to the spraying port;

[0010] A controller is fixedly connected to the vehicle body, and the ultrasonic distance sensor, left and right motors, angle motor, up and down motors, front and back motors and mortar pump are connected to the controller.

[0011] Preferably, a pull-wire encoder is fixedly connected to the bottom end of the vehicle body, and a sliding sleeve is provided at the bottom end of the vehicle body in a vertical direction, and the sliding sleeve passes through the vehicle body and is fixedly connected to the vehicle body; a sliding shaft is slidably provided in the sliding sleeve, the upper end of the sliding shaft is connected to the pull-wire encoder, and the lower end of the sliding shaft is connected to a driven wheel, and the pull-wire encoder is connected to the controller.

[0012] Preferably, the wire encoder includes a pull rope, which is connected to the sliding shaft; the sliding shaft sleeve is provided with a spring, which is arranged between the vehicle body and the driven wheel, the upper end of the spring is connected to the vehicle body, and the lower end of the spring is connected to the driven wheel.

[0013] Preferably, it also includes a rotating shaft, which is rotatably connected to the first movable plate through a bearing seat, and the first movable plate is fixedly connected to an angle motor, and the angle motor is connected to the rotating shaft, and the rotating shaft is fixedly connected to the vertical rod, and the angle motor is used to drive the vertical rod to rotate.

[0014] Preferably, a first touch switch and a second touch switch are provided at both ends of the vehicle body, and a third touch switch and a fourth touch switch are provided at both ends of the first movable plate; the first touch switch, the second touch switch, the third touch switch and the fourth touch switch are connected to the controller.

[0015] Preferably, the vehicle body is rotatably connected to a plurality of driving wheels, and the driven wheel is arranged on the left side of the driving wheel.

[0016] The present invention also proposes a spraying method, which uses the above-mentioned adaptive spraying device and includes the following steps:

[0017] S1: The distance between the spray nozzle and the wall is preset as D0 in the controller, the length and width of the required spraying area are input into the controller, the controller controls the spray nozzle to move to the initial position, and the controller controls the ultrasonic distance sensor to start working;

[0018] S2: The ultrasonic distance sensor detects the distance between the spray nozzle and the wall and transmits the corresponding signal to the controller. The controller controls the front and rear motors to start working, which drives the screw to rotate, and drives the spray nozzle to move through the screw nut. Under the action of the ultrasonic distance sensor, the distance between the spray nozzle and the wall is set to D0. The controller controls the ultrasonic distance sensor to stop working and the mortar pump to start working.

[0019] S3: The mortar pump drives the material to be sprayed out through the spray port.

[0020] When the spray nozzle needs to move up and down, the controller controls the upper and lower motors to work, and the upper and lower motors drive the upper and lower gears to rotate. The upper and lower gears move the specified distance on the upper and lower racks, thereby moving the spray nozzle a specified distance;

[0021] When the spray nozzle needs to move left and right, the controller controls the left and right motors to work, and the left and right motors drive the left and right gears to rotate. The left and right gears move a specified distance on the left and right racks, thereby moving the spray nozzle a specified distance to complete the spraying work.

[0022] Preferably, when the device encounters a ramp formed by uneven ground, taking an uphill ramp as an example, the driven wheel located in front of the driving wheel enters the ramp first. At this time, the driven wheel drives the sliding shaft to move upward in the sliding shaft sleeve under the action of the ramp, and the sliding shaft drives the rope of the wire encoder to stretch. After the wire encoder detects the distance of the rope stretching, it transmits the corresponding signal to the controller. The controller then derives the angle of the ramp at this time, and drives the spraying port located on the vertical rod to rotate to a specified angle by controlling the angle motor.

[0023] Preferably, when the driven wheel is traveling on the ramp, as the device continues to move, when the driving wheel enters the ramp, under the action of the driving wheel, the sliding shaft is driven to move downward in the sliding shaft sleeve, and the sliding shaft drives the pull rope of the wire encoder to retract. At this time, the controller extracts the maximum stretching length of the wire encoder, and obtains the inclination angle of the ramp based on the distance between the driven wheel and the driving wheel.

[0024] Preferably, when the device moves to the wall, the first touch switch contacts the wall and transmits a corresponding signal to the controller to stop the driving wheel from rotating. The controller controls the left and right motors to work and drive the first movable plate to move. When the third touch switch contacts the wall, the corresponding signal is transmitted to the controller, and the controller controls the spraying port to move up and down, thereby completing the spraying work of the entire wall.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention realizes the movement of the spray nozzle by cooperating with the provided gear and rack, wherein the left and right motors realize the horizontal movement of the spray nozzle, the upper and lower motors realize the vertical movement of the spray nozzle, the front and rear motors realize the adjustment of the distance between the spray nozzle and the wall, and the angle motor realizes the adjustment of the angle of the spray nozzle.

[0027] 2. The present invention cooperates with the wire encoder by setting a driven wheel. When encountering a slope section, the driven wheel drives the wire encoder to change the length of the rope. According to the length of stretching or contraction, the angle of the ramp is obtained, which facilitates subsequent work.

[0028] 3. The present invention is also provided with a touch switch. When the touch switch contacts the wall, the control device stops moving, and the spraying port moves to the wall position, which facilitates the overall spraying work of the wall and effectively reduces the work intensity of the workers.

[0029] 4. The present invention adjusts the distance between the spray nozzle and the wall by setting an ultrasonic distance sensor, and drives the screw rod to rotate by a motor to control the distance between the spray nozzle and the wall. The operation is simple and the structure is reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0031] Figure 1 It is the overall front view of the present invention;

[0032] Figure 2 It is the overall left side view of the present invention;

[0033] Figure 3 yes Figure 2 Schematic diagram of the structure in direction A;

[0034] Figure 4 yes Figure 2 Schematic diagram of the structure in the middle B direction;

[0035] Figure 5 yes Figure 2 Schematic diagram of the structure in the C direction;

[0036] Figure 6 yes Figure 2 Enlarged view of the structure of the S part in the middle.

[0037] Description of the accompanying drawings:

[0038] 1. Driving wheel; 2. Driving motor; 3. First touch switch; 4. Controller; 5. Car body; 6. Mortar pump; 7. Mortar pump motor; 8. Vertical rod; 9. Second touch switch; 10. Bearing seat; 11. Angle motor; 12. Left and right gears; 13. Left and right motor; 14. Left and right racks; 15. Ultrasonic distance sensor; 16. Spraying port; 17. Second slide rail; 18. Screw nut; 19. Screw; 20. Front and rear motor; 21. Upper and lower gears; 22. Upper and lower racks; 23. Upper and lower motor; 24. Rotating shaft; 25. Third touch switch; 26. Fourth touch switch; 27. Driving wheel shaft; 28. Driven sprocket; 29. ​​Chain; 30. Driving sprocket; 31. Wire encoder; 32. Sliding shaft; 33. Sliding bushing; 34. Spring; 35. Driven wheel; 36. First slide rail; 37. First movable plate; 38. Second movable plate; 39. Filling port. DETAILED DESCRIPTION

[0039] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0040] Example 1

[0041] like Figure 1-6 As shown, this embodiment provides an adaptive spraying device, including a vehicle body 5, which is fixedly connected to a controller 4. The controller 4 is used to control the overall operation of the device. A first slide rail 36 and left and right racks 14 are fixedly connected to the upper end of the vehicle body 5. The first slide rail 36 and the left and right racks 14 are arranged along the length of the vehicle body 5, and the left and right racks 14 are arranged on one side of the first slide rail 36. A first movable plate 37 is slidably connected to the first slide rail 36. The first movable plate 37 is fixedly connected to the left and right motors 13. The left and right motors 13 are connected to left and right gears 12. The left and right gears 12 mesh with the left and right racks 14.

[0042] The left and right motors 13 are connected to the controller 4. The left and right motors 13 are used to drive the first movable plate 37 to move in the length direction of the vehicle body 5. The left and right motors 13 drive the left and right gears 12 to rotate, thereby driving the left and right gears 12 to move on the left and right racks 14, thereby driving the first movable plate 37 to slide on the first slide rail 36.

[0043] The rotating shaft 24 is rotatably connected to the first movable plate 37 via the bearing seat 10. The first movable plate 37 is fixedly connected to the angle motor 11. The angle motor 11 is connected to the rotating shaft 24, and the rotating shaft 24 is fixedly connected to the vertical rod 8. The angle motor 11 is connected to the controller 4 and is used to drive the vertical rod 8 to rotate. In the initial state, the vertical rod 8 is set in a vertical direction.

[0044] The vertical rod 8 is fixedly connected to the second slide rail 17 and the upper and lower racks 22. The second slide rail 17 and the upper and lower racks 22 are arranged along the length direction of the vertical rod 8. The upper and lower racks 22 are arranged on one side of the second slide rail 17. The second slide rail 17 is slidably connected to the second movable plate 38. The second movable plate 38 is fixedly connected to the upper and lower motors 23. The upper and lower motors 23 are connected to the upper and lower gears 21. The upper and lower gears 21 are meshed with the upper and lower racks 22.

[0045] The second movable plate 38 is arranged in the horizontal direction, and the upper and lower motors 23 are connected to the controller 4. The upper and lower motors 23 are used to drive the second movable plate 38 to move in the length direction of the vertical rod 8. The upper and lower motors 23 drive the upper and lower gears 21 to rotate, thereby driving the upper and lower gears 21 to move on the upper and lower racks 22, thereby driving the second movable plate 38 to slide on the second slide rail 17.

[0046] The screw rod 19 includes a screw nut 18, which is rotatably connected to the second movable plate 38. The second movable plate 38 is fixedly connected to the front and rear motors 20, which are connected to the screw rod 19. The screw nut 18 is also fixedly connected to the shotcrete nozzle 16 and the ultrasonic distance sensor 15. The ultrasonic distance sensor 15 is used to measure the distance between the shotcrete nozzle 16 and the wall. The ultrasonic distance sensor 15 and the front and rear motors 20 are connected to the controller 4. The front and rear motors 20 control the rotation of the screw rod 19, which in turn drives the screw nut 18 on the screw rod 19 to move, thereby adjusting the position of the shotcrete nozzle 16 from the wall.

[0047] The mortar pump 6 is fixedly connected to the vehicle body 5, and the vehicle body 5 is fixedly connected to a sand pump motor 7, which is connected to the mortar pump 6. The vehicle body 5 is provided with a filling port 39, which is connected to one end of the mortar pump 6 through a hose, and the other end of the mortar pump 6 is connected to the spraying port 16 through a hose.

[0048] The sand pump motor 7 is connected to the controller 4 and is used to drive the mortar pump 6 to work. Materials are added through the filling port 39, and the materials enter the mortar pump 6 through the hose. The sand pump motor 7 drives the mortar pump 6 to work, and then drives the material in the mortar pump 6 to enter the spraying port 16 through the hose, thereby completing the spraying work.

[0049] The vehicle body 5 is provided with a first touch switch 3 and a second touch switch 9 at both ends, and a third touch switch 25 and a fourth touch switch 26 at both ends of the first movable plate 37. The first touch switch 3, the second touch switch 9, the third touch switch 25, and the fourth touch switch 26 are connected to the controller 4. When the first touch switch 3, the second touch switch 9, the third touch switch 25, and the fourth touch switch 26 come into contact with a wall, a corresponding signal is generated and transmitted to the controller 4, which then controls the overall operation of the device.

[0050] The vehicle body 5 is rotatably connected to a plurality of driving wheels 1. In this embodiment, four driving wheels 1 are provided, and the driving wheels 1 are divided into two pairs. Each pair of driving wheels 1 is symmetrically arranged along the center line of the vehicle body 5. One pair of driving wheels 1 is driven by a driving motor 2 fixedly connected to the vehicle body 5, and the driving motor 2 is used to drive the driving wheels 1 to rotate.

[0051] The driving motor 2 is fixedly connected to the bottom end of the vehicle body 5, the output shaft of the driving motor 2 is connected to a driving sprocket 30, a driving wheel shaft 27 is provided at the bottom end of the vehicle body 5, both ends of the driving wheel shaft 27 are fixedly connected to the driving wheel 1, the driving wheel shaft 27 is sleeved with a driven sprocket 28, the driving wheel shaft 27 is fixedly connected to the driven sprocket 28, a chain 29 is hung on the driven sprocket 28 and the driving sprocket 30, and the driven sprocket 28 and the driving sprocket 30 are meshed with the chain 29.

[0052] The drive motor 2 is connected to the controller 4. The drive motor 2 drives the driving sprocket 30 to rotate. Under the action of the chain 29, the driven sprocket 28 is driven to rotate. The driven sprocket 28 drives the driving wheel shaft 27 to rotate, and then drives the driving wheel 1 to rotate, thereby realizing the forward movement of the vehicle.

[0053] The controller 4 is also connected to an angle sensor, which is set on the vehicle body 5. When the device encounters uneven ground, it is used to detect the angle of inclination of the vehicle on the runway, and then calculate the inclination of the ramp, which facilitates the subsequent position adjustment of the spray nozzle 16.

[0054] Example 2

[0055] Reference Attachment Figure 6 The other structures are the same as those in the first embodiment, except that, in this embodiment, when the device encounters an uneven ground, if the ground has a small inclination, the angle sensor cannot detect the inclination of the ground in time.

[0056] Therefore, a pull-wire encoder 31 is fixedly connected to the bottom end of the vehicle body 5, and a sliding sleeve 33 is provided in the vertical direction at the bottom end of the vehicle body 5. The sliding sleeve 33 passes through the vehicle body 5 and is fixedly connected to the vehicle body 5; a sliding shaft 32 is slidingly provided in the sliding sleeve 33, the upper end of the sliding shaft 32 is connected to the pull-wire encoder 31, and the lower end of the sliding shaft 32 is connected to the driven wheel 35, and the pull-wire encoder 31 is connected to the controller 4.

[0057] The wire encoder 31 includes a pull rope connected to a sliding shaft 32. The sliding shaft 32 is provided with a spring 34. The spring 34 is arranged between the vehicle body 5 and the driven wheel 35. The upper end of the spring 34 is connected to the vehicle body 5, and the lower end of the spring 34 is connected to the driven wheel 35. The driven wheel 35 is arranged on the left side of the driving wheel 1.

[0058] When the device encounters an uneven ground, the driven wheel 35 first contacts the ramp. Taking going uphill as an example, under the action of the ramp, the driven wheel 35 moves upward, driving the sliding shaft 32 to slide upward in the sliding shaft sleeve 33. The sliding shaft 32 then drives the rope of the wire encoder 31 to move. The inclination angle of the ramp can be calculated by the longest distance the rope moves.

[0059] The present invention also proposes a spraying method, which uses the adaptive spraying device described in this embodiment, including the following steps:

[0060] S1: The distance between the spray nozzle 16 and the wall is preset as D0 in the controller 4, the length and width of the required spraying area are input in the controller 4, the controller 4 controls the spray nozzle 16 to move to the initial position, and the controller 4 controls the ultrasonic distance sensor 15 to start working;

[0061] S2: The ultrasonic distance sensor 15 detects the distance between the spraying port 16 and the wall and transmits a corresponding signal to the controller 4. The controller 4 controls the front and rear motors 20 to start working. The front and rear motors 20 drive the screw 19 to rotate, and the screw nut 18 drives the spraying port 16 to move. Under the action of the ultrasonic distance sensor 15, the distance between the spraying port 16 and the wall is set to D0. The controller 4 controls the ultrasonic distance sensor 15 to stop working, and the mortar pump 6 starts working.

[0062] S3: The mortar pump 6 drives the material to be sprayed out through the spraying port 16.

[0063] When the spraying port 16 needs to move up and down, the controller 4 controls the upper and lower motors 23 to work, and the upper and lower motors 23 drive the upper and lower gears 21 to rotate, and the upper and lower gears 21 move a specified distance on the upper and lower racks 22, thereby moving the spraying port 16 a specified distance;

[0064] When the spraying port 16 needs to move left and right, the controller 4 controls the left and right motors 13 to work, and the left and right motors 13 drive the left and right gears 12 to rotate. The left and right gears 12 move a specified distance on the left and right racks 14, thereby moving the spraying port 16 a specified distance, thereby completing the spraying work.

[0065] Among them, in step S1, the length and width required for spraying are input into the controller 4 to obtain the required spraying area. The initial position of the spraying port 16 is located in the upper left corner of the spraying area. During the spraying process, the spraying port 16 starts to move from the upper left corner of the spraying area to ensure the efficiency and quality of the spraying.

[0066] In step S2, the sand pump motor 7 drives the mortar pump 6 to work, and materials are added through the filling port 39. The materials enter the mortar pump 6 through the hose. The sand pump motor 7 drives the mortar pump 6 to work, and then drives the material in the mortar pump 6 to enter the spraying port 16 through the hose, thereby completing the spraying work.

[0067] When the spraying work is in progress, the controller 4 controls the movement of the spraying port 16 in the up and down directions and the movement in the action direction, thereby completing the required spraying area.

[0068] When the device encounters a ramp formed by uneven ground, taking an uphill ramp as an example, the driven wheel 35 located in front of the driving wheel 1 enters the ramp first. At this time, under the action of the ramp, the driven wheel 35 drives the sliding shaft 32 to move upward in the sliding shaft sleeve 33. The sliding shaft 32 drives the rope of the wire encoder 31 to stretch. After the wire encoder 31 detects the stretching distance of the rope, it transmits a corresponding signal to the controller 4. The movement principle of the downhill ramp is the same as that of the uphill ramp device, but the movement direction is opposite.

[0069] The controller 4 then determines the angle of the ramp at this time and controls the angle motor 11 to drive the spray nozzle 16 located on the vertical rod 8 to rotate the specified angle. During this process, the controller 4 calculates the displacement of the spray nozzle 16 based on the movement speed and time of the device. At the same time, the controller 4 controls the upper and lower motors 23 to drive the spray nozzle 16 to move, coordinating the angle of rotation of the spray nozzle 16, so that the spray nozzle 16 is always located on the same horizontal line, preventing the uneven ground from affecting the efficiency and quality of the spraying.

[0070] When the driven wheel 35 is traveling on the ramp, as the device continues to move, when the driving wheel 1 enters the ramp, under the action of the driving wheel 1, the sliding shaft 32 is driven to move downward in the sliding shaft sleeve 33, and the sliding shaft 32 drives the pull rope of the wire encoder 31 to retract. At this time, the controller 4 extracts the maximum stretching length of the wire encoder 31, and according to the distance between the driven wheel 35 and the driving wheel 1, according to the original right triangle, the inclination angle of the ramp is obtained.

[0071] When the device moves to a wall, the first touch switch 3 contacts the wall, transmitting a corresponding signal to the controller 4, causing the driving wheel 1 to stop rotating. The controller 4 then controls the left and right motors 13 to operate, driving the first movable plate 37 to move. When the third touch switch 25 contacts the wall, it transmits a corresponding signal to the controller 4, which controls the spraying port 16 to move up and down, thereby completing the spraying operation on the entire wall. This prevents the spraying operation from being affected by the obstruction of the wall.

[0072] It should be noted that during the spraying process, if you encounter a tilted wall, the ground is a slope and the wall needs to be sprayed at an angle. Taking uphill as an example, when the driving wheel 1 and the driven wheel 35 are both traveling on the slope, the angle sensor on the vehicle body 5 detects that the vehicle body 5 is always moving in the tilted direction. When the vehicle body 5 moves onto the slope as a whole, the device as a whole moves in the tilted direction. The angle sensor detects the operation status of the device at this time and transmits the corresponding signal to the controller.

[0073] In the initial stage of movement, as the driving wheel 1 located in front of the device enters the uphill ramp, the controller 4 controls the spraying port 16 to rotate to a suitable angle. As the device as a whole enters the uphill ramp, the controller 4 controls the spraying port to rotate to the initial angle, thereby facilitating the spraying work. The movement principle of the downhill ramp is the same as that of the uphill slope device, and the movement direction is opposite.

[0074] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An adaptive spraying device, comprising a vehicle body (5), characterized in that: The upper end of the vehicle body (5) is fixedly connected to a first slide rail (36) and left and right racks (14); the first slide rail (36) and the left and right racks (14) are arranged along the length direction of the vehicle body (5); the left and right racks (14) are arranged on one side of the first slide rail (36); a first movable plate (37) is slidably connected to the first slide rail (36); the first movable plate (37) is fixedly connected to left and right motors (13); the left and right motors (13) are connected to left and right gears (12); the left and right gears (12) are meshed with the left and right racks (14); and further comprises: A vertical rod (8), the vertical rod (8) being connected to the first movable plate (37), the vertical rod (8) being fixedly connected to a second slide rail (17) and upper and lower racks (22), the second slide rail (17) and the upper and lower racks (22) being arranged along the length direction of the vertical rod (8), the upper and lower racks (22) being arranged on one side of the second slide rail (17), the second slide rail (17) being slidably connected to a second movable plate (38), the second movable plate (38) being fixedly connected to an upper and lower motor (23), the upper and lower motor (23) being connected to upper and lower gears (21), the upper and lower gears (21) being meshed with the upper and lower racks (22); A screw rod (19), the screw rod (19) comprising a screw rod nut (18), the screw rod (19) being rotatably connected to the second movable plate (38), the second movable plate (38) being fixedly connected to a front and rear motor (20), the front and rear motor (20) being connected to the screw rod (19), and the screw rod nut (18) being further fixedly connected to a spraying port (16) and an ultrasonic distance sensor (15); A mortar pump (6), the mortar pump (6) being connected to the vehicle body (5), the vehicle body (5) being provided with a filling port (39), the filling port (39) being connected to one end of the mortar pump (6), and the other end of the mortar pump (6) being connected to the spraying port (16); A controller (4) is fixedly connected to the vehicle body (5); an ultrasonic distance sensor (15), a left and right motor (13), an angle motor (11), an up and down motor (23), a front and rear motor (20), and a mortar pump (6) are connected to the controller (4).

2. An adaptive spraying device according to claim 1, characterized in that: A wire encoder (31) is fixedly connected to the bottom end of the vehicle body (5); a sliding sleeve (33) is arranged in a vertical direction at the bottom end of the vehicle body (5); the sliding sleeve (33) penetrates the vehicle body (5) and is fixedly connected to the vehicle body (5); a sliding shaft (32) is slidably arranged in the sliding sleeve (33); the upper end of the sliding shaft (32) is connected to the wire encoder (31); the lower end of the sliding shaft (32) is connected to a driven wheel (35); and the wire encoder (31) is connected to the controller (4).

3. An adaptive spraying device according to claim 2, characterized in that: The wire encoder (31) comprises a pull rope connected to the sliding shaft (32); the sliding shaft (32) is sleeved with a spring (34), the spring (34) is arranged between the vehicle body (5) and the driven wheel (35), the upper end of the spring (34) is connected to the vehicle body (5), and the lower end of the spring (34) is connected to the driven wheel (35).

4. The adaptive spraying device according to claim 1, characterized in that: The utility model also comprises a rotating shaft (24), wherein the rotating shaft (24) is rotatably connected to the first movable plate (37) via a bearing seat (10), the first movable plate (37) is fixedly connected to an angle motor (11), the angle motor (11) is connected to the rotating shaft (24), the rotating shaft (24) is fixedly connected to the vertical rod (8), and the angle motor (11) is used to drive the vertical rod (8) to rotate.

5. The adaptive spraying device according to claim 1, characterized in that: A first touch switch (3) and a second touch switch (9) are provided at both ends of the vehicle body (5), and a third touch switch (25) and a fourth touch switch (26) are provided at both ends of the first movable plate (37); the first touch switch (3), the second touch switch (9), the third touch switch (25) and the fourth touch switch (26) are connected to the controller (4).

6. The adaptive spraying device according to claim 3, characterized in that: The vehicle body (5) is rotatably connected to a plurality of driving wheels (1), and the driven wheel (35) is arranged on the left side of the driving wheel (1).

7. A spraying method, characterized in that: The adaptive spraying device according to any one of claims 1 to 6 comprises the following steps: S1: Preset the distance between the spraying port (16) and the wall as D0 in the controller (4), input the length and width of the required spraying area in the controller (4), control the spraying port (16) to move to the initial position, and control the ultrasonic distance sensor (15) to start working; S2: The ultrasonic distance sensor (15) detects the distance between the grouting port (16) and the wall, and transmits a corresponding signal to the controller (4). The controller (4) controls the front and rear motors (20) to start working. The front and rear motors (20) drive the screw rod (19) to rotate, and drive the grouting port (16) to move through the screw rod nut (18). Under the action of the ultrasonic distance sensor (15), the distance between the grouting port (16) and the wall is set to D0. The controller (4) controls the ultrasonic distance sensor (15) to stop working, and the mortar pump (6) starts working. S3: The mortar pump (6) drives the material to be sprayed out through the spraying port (16). When the spraying port (16) needs to move in the up and down directions, the controller (4) controls the upper and lower motors (23) to work, the upper and lower motors (23) drive the upper and lower gears (21) to rotate, and the upper and lower gears (21) move a specified distance on the upper and lower racks (22), thereby causing the spraying port (16) to move a specified distance; When the spraying port (16) needs to move in the left and right directions, the controller (4) controls the left and right motors (13) to work, and the left and right motors (13) drive the left and right gears (12) to rotate, and the left and right gears (12) move a specified distance on the left and right racks (14), thereby causing the spraying port (16) to move a specified distance, thereby completing the spraying work.

8. A spraying method according to claim 7, characterized in that: When the device encounters a ramp formed by an uneven ground, taking an uphill ramp as an example, the driven wheel (35) located in front of the driving wheel (1) enters the ramp first. At this time, the driven wheel (35) drives the sliding shaft (32) to move upward in the sliding shaft sleeve (33) under the action of the ramp, and the sliding shaft (32) drives the rope of the wire encoder (31) to stretch. After the wire encoder (31) detects the distance of the rope stretching, it transmits a corresponding signal to the controller (4). The controller (4) then obtains the angle of the ramp at this time, and drives the spraying port (16) located on the vertical rod (8) to rotate a specified angle by controlling the angle motor (11).

9. A spraying method according to claim 8, characterized in that: When the driven wheel (35) travels on the ramp, as the device continues to move, when the driving wheel (1) enters the ramp, the driving wheel (1) drives the sliding shaft (32) to move downward in the sliding shaft sleeve (33), and the sliding shaft (32) drives the pull rope of the pull wire encoder (31) to retract. At this time, the controller (4) extracts the maximum stretching length of the pull wire encoder (31), and obtains the inclination angle of the ramp according to the distance between the driven wheel (35) and the driving wheel (1).

10. A spraying method according to claim 7, characterized in that: When the device moves to the wall, the first touch switch (3) contacts the wall and transmits a corresponding signal to the controller (4), causing the driving wheel (1) to stop rotating. The controller (4) controls the left and right motors (13) to work, driving the first moving plate (37) to move. When the third touch switch (25) contacts the wall, a corresponding signal is transmitted to the controller (4), and the controller (4) controls the spraying port (16) to move in the up and down directions, thereby completing the spraying work of the entire wall.

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